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   Compute the total velocity derivative from the body velocity and
   its derivatives.
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   Form:
   vTDot = VBDToVBT( vB, vBDot )
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   ------
   Inputs
   ------
   vB          (3,1) Velocity in the body frame
   vBDot       (3,1) Acceleration in the body frame

   -------
   Outputs
   -------
   vTDot       (1,1) Acceleration

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